search

bepu / bepuphysics2

Pure C# 3D real time physics simulation library, now with a higher version number.
Apache License 2.0
2.4k stars 274 forks source link

Contact constraint zoo requires filling out #2

Closed RossNordby closed 6 years ago

RossNordby commented 7 years ago

As of this writing, only 3 of 16 (and possibly 24) contact constraints exist.

We'll need to create the rest of them, but we need to run the numbers on memory bandwidth. The effective mass jacobian baking trick might be worth it on one contact constraints.

This is made slightly more complex by the need to keep things minimally duplicated. Nonconvex manifolds should tend to be a bunch of convex 1 contact manifolds lacking twist friction, so it shouldn't be too hellish.

RossNordby commented 6 years ago

The full contact zoo ships in the alpha.